reference coordinates tutorial in html

betaBison · betaBison · commit 66a0ea0f977d · 2022-08-29T21:44:20.000-07:00
diff --git a/docs/source/tutorials/tutorials.rst b/docs/source/tutorials/tutorials.rst
@@ -55,4 +55,5 @@ available in the :code:`utils` directory.
    :maxdepth: 2
 
    tutorials_visualizations_notebook
+   tutorials_coordinates_notebook
    tutorials_utilities_notebook
diff --git a/docs/source/tutorials/tutorials_coordinates_notebook.nblink b/docs/source/tutorials/tutorials_coordinates_notebook.nblink
@@ -0,0 +1,3 @@
+{
+    "path": "../../../notebooks/tutorials/coordinates.ipynb"
+}
diff --git a/notebooks/tutorials/coordinates.ipynb b/notebooks/tutorials/coordinates.ipynb
@@ -4,7 +4,7 @@
    "cell_type": "markdown",
    "metadata": {},
    "source": [
-    "# Global coordinate conversions"
+    "# Global Coordinate Conversions"
    ]
   },
   {
@@ -45,7 +45,7 @@
    "cell_type": "markdown",
    "metadata": {},
    "source": [
-    "# Local NED frame conversions"
+    "# Local NED Frame Conversions"
    ]
   },
   {
@@ -122,6 +122,76 @@
     "print('The converted free vector in NED is ')\n",
     "print(v_ecef)"
    ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "# Elevation and Aziumth from ECEF Positions"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "Find elevation and azimuth angle from receiver and satellite ECEF positions."
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "from gnss_lib_py.utils.coordinates import ecef_to_el_az\n",
+    "from gnss_lib_py.parsers.android import AndroidDerived2022\n",
+    "\n",
+    "# load Android Google Challenge data\n",
+    "!wget https://raw.githubusercontent.com/Stanford-NavLab/gnss_lib_py/main/data/unit_test/android_2022/device_gnss.csv --quiet -O \"device_gnss.csv\"\n",
+    "navdata = AndroidDerived2022(\"device_gnss.csv\")\n",
+    "navdata_subset = navdata.where(\"gps_millis\",navdata[\"gps_millis\",0]) # only use data from first timestep"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "To calculate the elevation and azimuth, pass in the receiver and satellites' ECEF positions."
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "pos_sv_m = navdata_subset[[\"x_sv_m\",\"y_sv_m\",\"z_sv_m\"]].T\n",
+    "pos_rx_m = navdata_subset[[\"WlsPositionXEcefMeters\",\n",
+    "                           \"WlsPositionYEcefMeters\",\n",
+    "                           \"WlsPositionZEcefMeters\"],0].reshape(1,-1)\n",
+    "\n",
+    "calculated_el_az = ecef_to_el_az(pos_rx_m,pos_sv_m)\n",
+    "truth_el_az = navdata_subset[[\"el_sv_deg\",\"az_sv_deg\"]].T"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "We can now compare the calculated elevation and azimuth with their respective \"truth\" values included in the Google Decimeter Challenge 2022 dataset."
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "for sat_idx in range(3):\n",
+    "    print(f\"SV ID: {int(navdata_subset['sv_id',sat_idx])}\")\n",
+    "    print(f\"Calculated elevation: {calculated_el_az[sat_idx,0]}, Truth elevation: {truth_el_az[sat_idx,0]}\")\n",
+    "    print(f\"Calculated azimuth: {calculated_el_az[sat_idx,1]}, Truth azimuth: {truth_el_az[sat_idx,1]}\")"
+   ]
   }
  ],
  "metadata": {
diff --git a/notebooks/tutorials/utilities.ipynb b/notebooks/tutorials/utilities.ipynb
@@ -151,83 +151,6 @@
     "gps_millis = tc.unix_to_gps_millis(unix_millis)\n",
     "print(f\"GPS milliseconds: {gps_millis}\")"
    ]
-  },
-  {
-   "cell_type": "markdown",
-   "id": "76ee7e5e",
-   "metadata": {},
-   "source": [
-    "# Coordinates"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "id": "952766c1",
-   "metadata": {},
-   "source": [
-    "Find elevation and azimuth angle from receiver and satellite ECEF positions."
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": null,
-   "id": "7469642e",
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "from gnss_lib_py.utils.coordinates import ecef_to_el_az\n",
-    "from gnss_lib_py.parsers.android import AndroidDerived2022\n",
-    "\n",
-    "# load Android Google Challenge data\n",
-    "!wget https://raw.githubusercontent.com/Stanford-NavLab/gnss_lib_py/main/data/unit_test/android_2022/device_gnss.csv --quiet -O \"device_gnss.csv\"\n",
-    "navdata = AndroidDerived2022(\"device_gnss.csv\")\n",
-    "navdata_subset = navdata.where(\"gps_millis\",navdata[\"gps_millis\",0]) # only use data from first timestep"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "id": "fd284f3e",
-   "metadata": {},
-   "source": [
-    "To calculate the elevation and azimuth, pass in the receiver and satellites' ECEF positions."
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": null,
-   "id": "7d5be2b4",
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "pos_sv_m = navdata_subset[[\"x_sv_m\",\"y_sv_m\",\"z_sv_m\"]].T\n",
-    "pos_rx_m = navdata_subset[[\"WlsPositionXEcefMeters\",\n",
-    "                           \"WlsPositionYEcefMeters\",\n",
-    "                           \"WlsPositionZEcefMeters\"],0].reshape(1,-1)\n",
-    "\n",
-    "calculated_el_az = ecef_to_el_az(pos_rx_m,pos_sv_m)\n",
-    "truth_el_az = navdata_subset[[\"el_sv_deg\",\"az_sv_deg\"]].T"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "id": "6f1348ea",
-   "metadata": {},
-   "source": [
-    "We can now compare the calculated elevation and azimuth with their respective \"truth\" values included in the Google Decimeter Challenge 2022 dataset."
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": null,
-   "id": "b256241b",
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "for sat_idx in range(3):\n",
-    "    print(f\"SV ID: {int(navdata_subset['sv_id',sat_idx])}\")\n",
-    "    print(f\"Calculated elevation: {calculated_el_az[sat_idx,0]}, Truth elevation: {truth_el_az[sat_idx,0]}\")\n",
-    "    print(f\"Calculated azimuth: {calculated_el_az[sat_idx,1]}, Truth azimuth: {truth_el_az[sat_idx,1]}\")"
-   ]
   }
  ],
  "metadata": {
diff --git a/notebooks/tutorials/visualizations.ipynb b/notebooks/tutorials/visualizations.ipynb
@@ -156,7 +156,8 @@
    "outputs": [],
    "source": [
     "fig = plot_metric(glonass_data, \"iono_delay_m\", \"tropo_delay_m\", groupby=\"sv_id\",\n",
-    "                  linestyle=\"None\", markeredgecolor=\"r\", markersize=12, markeredgewidth=1.0)"
+    "                  linestyle=\"None\", markeredgecolor=\"g\", markersize=12, \n",
+    "                  markeredgewidth=1.0)"
    ]
   },
   {

Original file line number	Diff line number	Diff line change
`@@ -0,0 +1,3 @@`
	`1`	`+{`
	`2`	`+ "path": "../../../notebooks/tutorials/coordinates.ipynb"`
	`3`	`+}`
Original file line number	Diff line number	Diff line change
`@@ -156,7 +156,8 @@`
`156`	`156`	`"outputs": [],`
`157`	`157`	`"source": [`
`158`	`158`	`"fig = plot_metric(glonass_data, \"iono_delay_m\", \"tropo_delay_m\", groupby=\"sv_id\",\n",`
`159`		`- " linestyle=\"None\", markeredgecolor=\"r\", markersize=12, markeredgewidth=1.0)"`
	`159`	`+ " linestyle=\"None\", markeredgecolor=\"g\", markersize=12, \n",`
	`160`	`+ " markeredgewidth=1.0)"`
`160`	`161`	`]`
`161`	`162`	`},`
`162`	`163`	`{`